#ifndef IMUPUB_VECTORNAV_H
#define IMUPUB_VECTORNAV_H

#include <ros/ros.h>
#include "sensor_msgs/Imu.h"
#include "libvectornav.h" // it contains link to vn100.h and math.h
#include "vn100.h" //need to access vn100 functions
#include "vncp_services.h"


/* declaring the VnEkfImuDataPub Class for publishing VN data using ROS */
class VnEkfImuDataPub
{
 public:
   /*Class Constructor */  
   VnEkfImuDataPub(const ros::NodeHandle& nh);
  /*Class Destructor */
  ~VnEkfImuDataPub();

 private:
  /*Creating a handle attribute of VnEkfImuDataPub as a ROS Node */
  ros::NodeHandle _VNImuNodeHandle;

   /* Creating an object attribute for publishing Complete IMU data using ROS for other interfaces */ 
  ros::Publisher _vectornavIMUDataPublisher;

  
};

#endif
